From 85a0d4aa9a0676656effc6ae69b143375a8239e2 Mon Sep 17 00:00:00 2001
From: drallensmith <drallensmith@users.noreply.github.com>
Date: Sun, 6 Aug 2017 14:40:48 -0500
Subject: [PATCH] Revise feedback with enum, use of ACTION_STATUS_UNKNOWN when
appropriate
---
doc/manual.pdf | Bin 303244 -> 303230 bytes
doc/manual.tex | 6 +-
example/explore_offense_actions_fullstate.py | 141 ++++++++++++++---
hfo/hfo.py | 6 +-
src/HFO.cpp | 2 +-
src/HFO.hpp | 2 +-
src/agent.cpp | 151 ++++++++++++-------
src/agent.h | 27 ++--
src/bhv_basic_move.cpp | 30 +++-
src/bhv_basic_move.h | 4 +-
src/common.hpp | 43 +++++-
11 files changed, 300 insertions(+), 112 deletions(-)
diff --git a/doc/manual.pdf b/doc/manual.pdf
index 7f9e2ac90a5957ea3186140037fff524b6364bf8..4a0b8719c0df7472ac4bdd7caf13dbf5d316ff45 100644
GIT binary patch
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diff --git a/doc/manual.tex b/doc/manual.tex
index 2d763ff..62964be 100644
--- a/doc/manual.tex
+++ b/doc/manual.tex
@@ -622,13 +622,13 @@ Team. unum invalid & Y & Y & Y & Y & Y & Y & Y & Y & Y & Y & N &
Opponent loc invalid & Y & Y & Y & Y & Y & Y & Y? & Y & N & Y? & Y & Y? & Y & Y & Y & Y & N \\
Opp. unum invalid & Y & Y & Y & Y & Y & Y & Y & Y & Y & Y & Y & Y & Y & Y & Y & Y & N \\
\hline
-Ball kickable & Y & Y & Y & Y & Y & Y & Y & ? & * & Y & Y & Y & Y & ? & ? & ? & Y \\
+Ball kickable & Y & Y & Y & Y & Y & Y & Y & N & * & Y & Y & Y & Y & ? & ? & N & Y \\
Ball not kickable & Y & Y & Y & N & N & Y & Y & Y & Y & N & N & N & Y & Y & Y & Y & Y \\
\hline
Frozen & N & N & N & N & N & N & N? & N & N? & N & N & Y & N? & N & N & N & N \\
-Colliding w/ball & Y & Y & ? & ? & ? & Y? & ? & ? & ? & ? & ? & ? & ? & ? & ? & ? & ? \\
+Colliding w/ball & Y & Y & ? & N & Y & Y & Y & Y & ? & ? & ? & ? & ? & ? & ? & N & ? \\
Colliding w/player & Y & Y? & ? & N? & N? & Y? & ? & Y? & ? & ? & ? & Y? & ? & ? & ? & Y? & ? \\
-Colliding w/post & Y & Y & N? & N? & N? & Y & ? & Y & ? & ? & ? & ? & ? & ? & ? & Y & ? \\
+Colliding w/post & Y & Y & N? & N? & N? & Y & Y & Y & Y & ? & ? & Y & ? & Y & Y & Y & Y \\
\hline
Offense & Y & Y & N & Y & Y & Y & Y & Y & Y & Y & Y & Y & N & N & N & Y & N \\
Defense, not goalie & Y & Y & Y & N? & N? & Y & N & Y & Y & N & N & N & N & Y & ? & Y & Y \\
diff --git a/example/explore_offense_actions_fullstate.py b/example/explore_offense_actions_fullstate.py
index 75444a7..db55f11 100755
--- a/example/explore_offense_actions_fullstate.py
+++ b/example/explore_offense_actions_fullstate.py
@@ -284,7 +284,7 @@ def get_abs_x_y_pos(abs_angle, dist, self_x_pos, self_y_pos, warn=True, of_what=
if dist < 10:
raise RuntimeError("\n".join(error_strings))
else:
- if warn or (dist < 60):
+ if warn or (dist < 50):
print("\n".join(error_strings), file=sys.stderr)
sys.stderr.flush()
return (None, None)
@@ -641,9 +641,36 @@ def evaluate_previous_action(hfo_env,
action_status_observed = hfo.ACTION_STATUS_UNKNOWN # NOTE: Check intent + other bitflags!
if namespace.action == hfo.DASH:
- pass # TODO
+ if (namespace.intent !=
+ INTENT_GOAL_COLLISION) and namespace.prestate_bit_list[3] and (not bit_list[3]):
+ action_status_observed = hfo.ACTION_STATUS_MAYBE
+ elif (namespace.intent !=
+ INTENT_BALL_COLLISION) and namespace.prestate_bit_list[2] and (not bit_list[2]):
+ action_status_observed = hfo.ACTION_STATUS_MAYBE
+ elif (namespace.intent == INTENT_BALL_KICKABLE) and (not namespace.prestate_bit_list[4]) and bit_list[4]:
+ action_status_observed = hfo.ACTION_STATUS_MAYBE
+ elif (namespace.intent == INTENT_GOAL_COLLISION) and (not namespace.prestate_bit_list[3]) and bit_list[3]:
+ action_status_observed = hfo.ACTION_STATUS_MAYBE
+ elif (namespace.intent == INTENT_BALL_COLLISION) and (((not namespace.prestate_bit_list[2]) and bit_list[2]) or
+ ((not namespace.prestate_bit_list[4]) and bit_list[4])):
+ action_status_observed = hfo.ACTION_STATUS_MAYBE
+ else:
+ pass # TODO
elif namespace.action == hfo.TURN:
- if (namespace.prestate_self_dict['body_angle'] is not None) and (self_dict['body_angle'] is not None):
+ if (namespace.intent !=
+ INTENT_GOAL_COLLISION) and namespace.prestate_bit_list[3] and (not bit_list[3]):
+ action_status_observed = hfo.ACTION_STATUS_MAYBE
+ elif (namespace.intent !=
+ INTENT_BALL_COLLISION) and namespace.prestate_bit_list[2] and (not bit_list[2]):
+ action_status_observed = hfo.ACTION_STATUS_MAYBE
+ elif (namespace.intent == INTENT_BALL_KICKABLE) and (not namespace.prestate_bit_list[4]) and bit_list[4]:
+ action_status_observed = hfo.ACTION_STATUS_MAYBE
+ elif (namespace.intent == INTENT_GOAL_COLLISION) and (not namespace.prestate_bit_list[3]) and bit_list[3]:
+ action_status_observed = hfo.ACTION_STATUS_MAYBE
+ elif (namespace.intent == INTENT_BALL_COLLISION) and (((not namespace.prestate_bit_list[2]) and bit_list[2]) or
+ ((not namespace.prestate_bit_list[4]) and bit_list[4])):
+ action_status_observed = hfo.ACTION_STATUS_MAYBE
+ elif (namespace.prestate_self_dict['body_angle'] is not None) and (self_dict['body_angle'] is not None):
intended_body_angle = namespace.prestate_self_dict['body_angle'] + namespace.action_params[0]
if get_angle_diff(namespace.prestate_self_dict['body_angle'],
intended_body_angle) > get_angle_diff(self_dict['body_angle'],
@@ -652,7 +679,15 @@ def evaluate_previous_action(hfo_env,
else:
action_status_observed = hfo.ACTION_STATUS_BAD
elif namespace.action == hfo.KICK:
- pass # TODO
+ if bit_list[4]:
+ if namespace.prestate_bit_list[2] and (not bit_list[2]):
+ action_status_observed = hfo.ACTION_STATUS_MAYBE
+ elif namespace.prestate_bit_list[3] and (not bit_list[3]):
+ action_status_observed = hfo.ACTION_STATUS_MAYBE
+ else:
+ action_status_observed = hfo.ACTION_STATUS_BAD
+ else:
+ pass # TODO
elif namespace.action == hfo.KICK_TO:
if (namespace.prestate_ball_dict['x_pos'] is not None) and (ball_dict['x_pos'] is not None):
dist_before = get_dist_real(namespace.prestate_ball_dict['x_pos'],
@@ -665,10 +700,30 @@ def evaluate_previous_action(hfo_env,
namespace.action_params[1])
if dist_before > dist_after:
action_status_observed = hfo.ACTION_STATUS_MAYBE
+ elif bit_list[4]:
+ if namespace.prestate_bit_list[2] and (not bit_list[2]):
+ action_status_observed = hfo.ACTION_STATUS_MAYBE
+ elif namespace.prestate_bit_list[3] and (not bit_list[3]):
+ action_status_observed = hfo.ACTION_STATUS_MAYBE
+ else:
+ action_status_observed = hfo.ACTION_STATUS_BAD
else:
action_status_observed = hfo.ACTION_STATUS_BAD
elif namespace.action == hfo.MOVE_TO:
- if (namespace.prestate_self_dict['x_pos'] is not None) and (self_dict['x_pos'] is not None):
+ if (namespace.intent !=
+ INTENT_GOAL_COLLISION) and namespace.prestate_bit_list[3] and (not bit_list[3]):
+ action_status_observed = hfo.ACTION_STATUS_MAYBE
+ elif (namespace.intent !=
+ INTENT_BALL_COLLISION) and namespace.prestate_bit_list[2] and (not bit_list[2]):
+ action_status_observed = hfo.ACTION_STATUS_MAYBE
+ elif (namespace.intent == INTENT_BALL_KICKABLE) and (not namespace.prestate_bit_list[4]) and bit_list[4]:
+ action_status_observed = hfo.ACTION_STATUS_MAYBE
+ elif (namespace.intent == INTENT_GOAL_COLLISION) and (not namespace.prestate_bit_list[3]) and bit_list[3]:
+ action_status_observed = hfo.ACTION_STATUS_MAYBE
+ elif (namespace.intent == INTENT_BALL_COLLISION) and (((not namespace.prestate_bit_list[2]) and bit_list[2]) or
+ ((not namespace.prestate_bit_list[4]) and bit_list[4])):
+ action_status_observed = hfo.ACTION_STATUS_MAYBE
+ elif (namespace.prestate_self_dict['x_pos'] is not None) and (self_dict['x_pos'] is not None):
dist_before = get_dist_real(namespace.prestate_self_dict['x_pos'],
namespace.prestate_self_dict['y_pos'],
namespace.action_params[0],
@@ -685,6 +740,10 @@ def evaluate_previous_action(hfo_env,
if namespace.prestate_bit_list[4]:
if not bit_list[4]:
action_status_observed = hfo.ACTION_STATUS_BAD
+ elif namespace.prestate_bit_list[3] and (not bit_list[3]): # goal collision
+ action_status_observed = hfo.ACTION_STATUS_MAYBE
+ elif namespace.prestate_bit_list[2] and (not bit_list[2]): # ball collision
+ action_status_observed = hfo.ACTION_STATUS_MAYBE
elif (namespace.prestate_self_dict['x_pos'] is not None) and (self_dict['x_pos'] is not None):
dist_before = get_dist_real(namespace.prestate_self_dict['x_pos'],
namespace.prestate_self_dict['y_pos'],
@@ -700,6 +759,10 @@ def evaluate_previous_action(hfo_env,
action_status_observed = hfo.ACTION_STATUS_BAD
elif bit_list[4]:
action_status_observed = hfo.ACTION_STATUS_MAYBE
+ elif namespace.prestate_bit_list[3] and (not bit_list[3]): # goal collision
+ action_status_observed = hfo.ACTION_STATUS_MAYBE
+ elif namespace.prestate_bit_list[2] and (not bit_list[2]): # ball collision
+ action_status_observed = hfo.ACTION_STATUS_MAYBE
elif namespace.prestate_ball_dict['dist'] > ball_dict['dist']:
action_status_observed = hfo.ACTION_STATUS_MAYBE
elif namespace.prestate_ball_dict['dist'] < ball_dict['dist']:
@@ -709,11 +772,20 @@ def evaluate_previous_action(hfo_env,
elif (namespace.action == hfo.INTERCEPT) or (namespace.action == hfo.GO_TO_BALL):
if namespace.prestate_bit_list[4]:
if bit_list[4]:
- action_status_observed = hfo.ACTION_STATUS_MAYBE
+ if (namespace.intent != INTENT_BALL_COLLISION) and bit_list[2]:
+ action_status_observed = hfo.ACTION_STATUS_BAD
+ elif (namespace.intent != INTENT_GOAL_COLLISION) and bit_list[3]:
+ action_status_observed = hfo.ACTION_STATUS_BAD
+ else:
+ action_status_observed = hfo.ACTION_STATUS_MAYBE
else:
action_status_observed = hfo.ACTION_STATUS_BAD
elif bit_list[4]:
action_status_observed = hfo.ACTION_STATUS_MAYBE
+ elif namespace.prestate_bit_list[3] and (not bit_list[3]): # goal collision
+ action_status_observed = hfo.ACTION_STATUS_MAYBE
+ elif (namespace.intent == INTENT_BALL_COLLISION) and (not namespace.prestate_bit_list[2]) and bit_list[2]:
+ action_status_observed = hfo.ACTION_STATUS_MAYBE
elif namespace.prestate_ball_dict['dist'] > ball_dict['dist']:
action_status_observed = hfo.ACTION_STATUS_MAYBE
elif namespace.prestate_ball_dict['dist'] < ball_dict['dist']:
@@ -759,16 +831,18 @@ def evaluate_previous_action(hfo_env,
namespace.struct_tried[pack_action_bit_list(namespace.action,namespace.prestate_bit_list)] += 1
# further analysis...
- # further analysis...
- if namespace.prestate_bit_list[3] and (namespace.action in (hfo.DASH, hfo.MOVE_TO)) and (action_status_guessed == hfo.ACTION_STATUS_MAYBE):
- print("OK status from {0!s} despite goal collision in prestate (poststate: {1!s})".format(
- action_string, bit_list[3]))
- sys.stdout.flush()
-
- if namespace.prestate_bit_list[2] and (namespace.action in (hfo.DASH, hfo.TURN, hfo.MOVE_TO)) and (action_status_guessed == hfo.ACTION_STATUS_MAYBE):
- print("OK status from {0!s} despite ball collision in prestate (poststate: {1!s})".format(
- action_string, bit_list[2]))
- sys.stdout.flush()
+ if action_status_guessed == hfo.ACTION_STATUS_MAYBE:
+ # further analysis...
+ if namespace.prestate_bit_list[3] and (namespace.action in (hfo.KICK, hfo.KICK_TO)):
+ print("OK status from {0!s} despite goal collision in prestate (poststate: {1!s})".format(
+ action_string, bit_list[3]))
+ sys.stdout.flush()
+
+ if namespace.prestate_bit_list[2] and (namespace.action in (hfo.KICK, hfo.MOVE_TO,
+ hfo.GO_TO_BALL)):
+ print("OK status from {0!s} despite ball collision in prestate (poststate: {1!s})".format(
+ action_string, bit_list[2]))
+ sys.stdout.flush()
def save_action_prestate(action,
prestate_bit_list,
@@ -886,6 +960,8 @@ def do_intent(hfo_env,
poss_actions_list.append(hfo.TURN)
if abs(ball_rel_angle) < 1.0:
poss_actions_list.append(hfo.DASH)
+ if bit_list[0] and (ball_dict['x_pos'] is not None):
+ poss_actions_list.append(hfo.MOVE_TO)
action = determine_which_action(poss_actions_list, namespace, bit_list)
@@ -899,6 +975,11 @@ def do_intent(hfo_env,
hfo_env.act(*save_action_prestate(action=hfo.DASH,
action_params=[80, ball_rel_angle],
**prestate_dict))
+ elif action == hfo.MOVE_TO:
+ hfo_env.act(*save_action_prestate(action=hfo.MOVE_TO,
+ action_params=[ball_dict['x_pos'],
+ ball_dict['y_pos']],
+ **prestate_dict))
else:
raise RuntimeError("Unknown action {0!r}".format(action))
@@ -1023,13 +1104,15 @@ def do_next_action(hfo_env,
# figure out what to do next
- if not (bit_list[2] or bit_list[3] or bit_list[4]):
+ if not (bit_list[2] or bit_list[3]):
poss_intent_set = set([INTENT_BALL_KICKABLE,INTENT_BALL_COLLISION,INTENT_GOAL_COLLISION])
if not bit_list[5]:
poss_intent_set.remove(INTENT_BALL_KICKABLE)
poss_intent_set.remove(INTENT_BALL_COLLISION)
if not bit_list[0]:
poss_intent_set.remove(INTENT_GOAL_COLLISION)
+ if bit_list[4]:
+ poss_intent_set.remove(INTENT_BALL_KICKABLE)
if not poss_intent_set:
raise NotImplementedError("Not yet set up for self+ball location invalid")
@@ -1044,14 +1127,22 @@ def do_next_action(hfo_env,
return do_intent(hfo_env, state, namespace)
- elif bit_list[4]: # kickable
- actions_want_check = set([hfo.INTERCEPT, hfo.GO_TO_BALL])
- if bit_list[2] or bit_list[3]:
- actions_want_check |= set([hfo.KICK, hfo.KICK_TO])
- else: # colliding
- actions_want_check = set([hfo.DASH, hfo.TURN, hfo.KICK, hfo.KICK_TO,
- hfo.MOVE_TO, hfo.DRIBBLE_TO, hfo.INTERCEPT,
- hfo.GO_TO_BALL])
+## elif bit_list[4]: # kickable
+## actions_want_check = set([hfo.INTERCEPT, hfo.GO_TO_BALL])
+## if bit_list[2] or bit_list[3]:
+## actions_want_check |= set([hfo.KICK, hfo.KICK_TO])
+ elif bit_list[2]: # colliding with ball
+ actions_want_check = set([hfo.GO_TO_BALL])
+ if bit_list[3]: # colliding with goal
+ actions_want_check |= set([hfo.KICK, hfo.KICK_TO, hfo.DRIBBLE_TO])
+ else: # colliding with goal
+ actions_want_check = set([hfo.KICK, hfo.KICK_TO, hfo.DRIBBLE_TO])
+
+ if prior_intent is not None:
+ print("INTENT: WAS {}".format(INTENT_DICT[prior_intent]))
+ else:
+ print("INTENT: NONE")
+ sys.stdout.flush()
if bit_list[4] and (prior_intent not in (None, INTENT_BALL_KICKABLE)):
namespace.intent_done[INTENT_BALL_KICKABLE] += 1
diff --git a/hfo/hfo.py b/hfo/hfo.py
index 7e5c8b8..feaf774 100644
--- a/hfo/hfo.py
+++ b/hfo/hfo.py
@@ -68,9 +68,6 @@ STATUS_STRINGS = {IN_GAME: "InGame",
OUT_OF_TIME: "OutOfTime",
SERVER_DOWN: "ServerDown"}
-"""Possible sides."""
-RIGHT, NEUTRAL, LEFT = list(range(-1,2))
-
"""Possible action result statuses."""
ACTION_STATUS_UNKNOWN, ACTION_STATUS_BAD, ACTION_STATUS_MAYBE = list(range(-1,2))
ACTION_STATUS_MAYBE_OK = ACTION_STATUS_MAYBE # typos
@@ -78,6 +75,9 @@ ACTION_STATUS_STRINGS = {ACTION_STATUS_UNKNOWN: "Unknown",
ACTION_STATUS_BAD: "Bad",
ACTION_STATUS_MAYBE: "MaybeOK"}
+"""Possible sides."""
+RIGHT, NEUTRAL, LEFT = list(range(-1,2))
+
class Player(Structure): pass
Player._fields_ = [
('side', c_int),
diff --git a/src/HFO.cpp b/src/HFO.cpp
index 47d47f3..dda1c6e 100644
--- a/src/HFO.cpp
+++ b/src/HFO.cpp
@@ -123,7 +123,7 @@ int HFOEnvironment::getNumOpponents() {
return agent->getNumOpponents();
}
-int HFOEnvironment::getLastActionStatus(action_t last_action) {
+action_status_t HFOEnvironment::getLastActionStatus(action_t last_action) {
return agent->getLastActionStatus(last_action);
}
diff --git a/src/HFO.hpp b/src/HFO.hpp
index ced8384..c64daf7 100644
--- a/src/HFO.hpp
+++ b/src/HFO.hpp
@@ -55,7 +55,7 @@ class HFOEnvironment {
// Returns the number of opponents
virtual int getNumOpponents();
- virtual int getLastActionStatus(action_t last_action);
+ virtual action_status_t getLastActionStatus(action_t last_action);
// Get the current player holding the ball
virtual Player playerOnBall();
diff --git a/src/agent.cpp b/src/agent.cpp
index 10d418b..3ac3df2 100644
--- a/src/agent.cpp
+++ b/src/agent.cpp
@@ -153,7 +153,7 @@ Agent::Agent()
// setup last_action variables
last_action_with_status = NOOP;
- last_action_status = -1;
+ last_action_status = ACTION_STATUS_UNKNOWN;
}
Agent::~Agent() {
@@ -166,20 +166,27 @@ int Agent::getUnum() {
return world().self().unum();
}
-int Agent::getLastActionStatus(action_t last_action) {
+action_status_t Agent::getLastActionStatus(action_t last_action) {
if (last_action == last_action_with_status) {
return last_action_status;
} else {
- return -1;
+ return ACTION_STATUS_UNKNOWN;
}
}
-void Agent::addLastActionStatus(action_t last_action, bool action_status) {
+void Agent::addLastActionStatus(action_t last_action, action_status_t action_status) {
last_action_with_status = last_action;
- if (action_status) {
- last_action_status = 1;
+ last_action_status = action_status;
+}
+
+void Agent::addLastActionStatusCollision(action_t last_action, bool may_fix, bool likely_success) {
+ last_action_with_status = last_action;
+ if (likely_success) {
+ last_action_status = ACTION_STATUS_MAYBE;
+ } else if (may_fix) {
+ last_action_status = ACTION_STATUS_UNKNOWN;
} else {
- last_action_status = 0;
+ last_action_status = ACTION_STATUS_BAD;
}
}
@@ -268,42 +275,55 @@ void Agent::actionImpl() {
<< " parameters, given " << params.size() << std::endl;
exit(1);
}
+
+ // For now let's not worry about turning the neck or setting the vision.
+ // But do the settings now, so that doesn't override any set by the actions below.
+ // TODO: Add setViewActionDefault, setNeckActionDefault to librcsc that only set if not already set.
+ this->setViewAction(new View_Tactical());
+ this->setNeckAction(new Neck_TurnToBallOrScan());
+
+ const WorldModel & wm = this->world();
+ bool may_fix = wm.self().collidesWithPost();
+
switch(requested_action) {
case DASH:
- addLastActionStatus(DASH, this->doDash(params[0], params[1]));
+ addLastActionStatusCollision(DASH, may_fix, this->doDash(params[0], params[1]));
break;
case TURN:
- addLastActionStatus(TURN, this->doTurn(params[0]));
+ addLastActionStatusCollision(TURN, may_fix, this->doTurn(params[0]));
break;
case TACKLE:
- addLastActionStatus(TACKLE, this->doTackle(params[0], false));
+ addLastActionStatus(TACKLE, BooleanToActionStatus(this->doTackle(params[0], false)));
break;
case KICK:
- addLastActionStatus(KICK, this->doKick(params[0], params[1]));
+ addLastActionStatus(KICK, BooleanToActionStatus(this->doKick(params[0], params[1])));
break;
case KICK_TO:
if (feature_extractor != NULL) {
- addLastActionStatus(KICK_TO, Body_SmartKick(Vector2D(feature_extractor->absoluteXPos(params[0]),
- feature_extractor->absoluteYPos(params[1])),
- params[2], params[2] * 0.99, 3).execute(this));
+ addLastActionStatus(KICK_TO,
+ BooleanToActionStatus(Body_SmartKick(Vector2D(feature_extractor->absoluteXPos(params[0]),
+ feature_extractor->absoluteYPos(params[1])),
+ params[2], params[2] * 0.99, 3).execute(this)));
}
break;
case MOVE_TO:
if (feature_extractor != NULL) {
- addLastActionStatus(MOVE_TO, Body_GoToPoint(Vector2D(feature_extractor->absoluteXPos(params[0]),
- feature_extractor->absoluteYPos(params[1])), 0.25,
- ServerParam::i().maxDashPower()).execute(this));
+ addLastActionStatusCollision(MOVE_TO, may_fix,
+ Body_GoToPoint(Vector2D(feature_extractor->absoluteXPos(params[0]),
+ feature_extractor->absoluteYPos(params[1])), 0.25,
+ ServerParam::i().maxDashPower()).execute(this));
}
break;
case DRIBBLE_TO:
if (feature_extractor != NULL) {
- addLastActionStatus(DRIBBLE_TO, Body_Dribble(Vector2D(feature_extractor->absoluteXPos(params[0]),
- feature_extractor->absoluteYPos(params[1])), 1.0,
- ServerParam::i().maxDashPower(), 2).execute(this));
+ addLastActionStatusCollision(DRIBBLE_TO, may_fix,
+ Body_Dribble(Vector2D(feature_extractor->absoluteXPos(params[0]),
+ feature_extractor->absoluteYPos(params[1])), 1.0,
+ ServerParam::i().maxDashPower(), 2).execute(this));
}
break;
case INTERCEPT:
- addLastActionStatus(INTERCEPT, Body_Intercept().execute(this));
+ addLastActionStatusCollision(INTERCEPT, may_fix, Body_Intercept().execute(this));
break;
case MOVE:
addLastActionStatus(MOVE, this->doMove());
@@ -318,7 +338,7 @@ void Agent::actionImpl() {
addLastActionStatus(DRIBBLE, this->doDribble());
break;
case CATCH:
- addLastActionStatus(CATCH, this->doCatch());
+ addLastActionStatus(CATCH, BooleanToActionStatus(this->doCatch()));
break;
case NOOP:
break;
@@ -343,9 +363,7 @@ void Agent::actionImpl() {
<< requested_action << std::endl;
exit(1);
}
- // For now let's not worry about turning the neck or setting the vision.
- this->setViewAction(new View_Tactical());
- this->setNeckAction(new Neck_TurnToBallOrScan());
+
}
void
@@ -723,7 +741,7 @@ Agent::doPreprocess()
/*!
*/
-bool
+action_status_t
Agent::doShoot()
{
const WorldModel & wm = this->world();
@@ -738,21 +756,23 @@ Agent::doShoot()
// reset intention
this->setIntention( static_cast< SoccerIntention * >( 0 ) );
- return true;
+ return ACTION_STATUS_MAYBE;
}
- return false;
+ return ACTION_STATUS_BAD;
}
-bool
+action_status_t
Agent::doSmartKick()
{
const ShootGenerator::Container & cont =
ShootGenerator::instance().courses(this->world(), false);
ShootGenerator::Container::const_iterator best_shoot
= std::min_element(cont.begin(), cont.end(), ShootGenerator::ScoreCmp());
- return Body_SmartKick(best_shoot->target_point_, best_shoot->first_ball_speed_,
- best_shoot->first_ball_speed_ * 0.99, 3).execute(this);
+ return BooleanToActionStatus(Body_SmartKick(best_shoot->target_point_,
+ best_shoot->first_ball_speed_,
+ best_shoot->first_ball_speed_ * 0.99,
+ 3).execute(this));
}
@@ -769,19 +789,19 @@ Agent::doPass()
return true;
}
-bool
+action_status_t
Agent::doPassTo(int receiver)
{
Force_Pass pass;
pass.get_pass_to_player(this->world(), receiver);
- return pass.execute(this);
+ return BooleanToActionStatus(pass.execute(this));
}
/*-------------------------------------------------------------------*/
/*!
*/
-bool
+action_status_t
Agent::doDribble()
{
bool success = false;
@@ -795,9 +815,9 @@ Agent::doDribble()
success = doPreprocess();
ActionChainHolder::instance().update( world() );
if (Bhv_ChainAction(ActionChainHolder::instance().graph()).execute(this)) {
- return true;
+ return ACTION_STATUS_MAYBE;
} else {
- return success;
+ return BooleanToActionStatus(success);
}
}
@@ -805,19 +825,19 @@ Agent::doDribble()
/*!
*/
-bool
+action_status_t
Agent::doMove()
{
Strategy::instance().update( world() );
- int role_num = Strategy::i().roleNumber(world().self().unum());
- return Bhv_BasicMove().execute(this);
+ int role_num = Strategy::i().roleNumber(world().self().unum()); // Unused?
+ return Bhv_BasicMove().action_execute(this);
}
/*-------------------------------------------------------------------*/
/*!
* This Action marks the player with the specified uniform number.
*/
-bool Agent::doMarkPlayer(int unum) {
+action_status_t Agent::doMarkPlayer(int unum) {
const WorldModel & wm = this->world();
Vector2D kicker_pos = Vector2D :: INVALIDATED;
Vector2D player_pos = Vector2D :: INVALIDATED;
@@ -841,19 +861,27 @@ bool Agent::doMarkPlayer(int unum) {
if (!player_pos.isValid()) {
//Player to be marked not found
- return false;
+ return ACTION_STATUS_BAD;
}
if (!kicker_pos.isValid()) {
//Kicker not found
- return false;
+ return ACTION_STATUS_BAD;
}
if (unum == kicker_unum || kicker_pos.equals(player_pos)) {
//Player to be marked is kicker
- return false;
+ return ACTION_STATUS_BAD;
}
double x = player_pos.x + (kicker_pos.x - player_pos.x)*0.1;
double y = player_pos.y + (kicker_pos.y - player_pos.y)*0.1;
- return Body_GoToPoint(Vector2D(x,y), 0.25, ServerParam::i().maxDashPower()).execute(this);
+ bool may_fix = wm.self().collidesWithPost();
+
+ if (Body_GoToPoint(Vector2D(x,y), 0.25, ServerParam::i().maxDashPower()).execute(this)) {
+ return ACTION_STATUS_MAYBE;
+ } else if (may_fix) {
+ return ACTION_STATUS_UNKNOWN;
+ } else {
+ return ACTION_STATUS_BAD;
+ }
}
/*-------------------------------------------------------------------*/
@@ -867,7 +895,7 @@ bool compare_y_pos (PlayerObject* i, PlayerObject* j) {
return i->pos().y < j->pos().y;
}
-bool Agent::doReduceAngleToGoal() {
+action_status_t Agent::doReduceAngleToGoal() {
const WorldModel & wm = this->world();
Vector2D goal_pos1( -ServerParam::i().pitchHalfLength(), ServerParam::i().goalHalfWidth() );
Vector2D goal_pos2( -ServerParam::i().pitchHalfLength(), -ServerParam::i().goalHalfWidth() );
@@ -876,7 +904,7 @@ bool Agent::doReduceAngleToGoal() {
const BallObject& ball = wm.ball();
if (! ball.rposValid()) {
- return false;
+ return ACTION_STATUS_BAD;
}
Vector2D ball_pos = ball.pos();
@@ -945,23 +973,30 @@ bool Agent::doReduceAngleToGoal() {
double dist_to_end2 = targetLineEnd2.dist2(ball_pos);
double ratio = dist_to_end2/(dist_to_end1+dist_to_end2);
Vector2D target = targetLineEnd1 * ratio + targetLineEnd2 * (1-ratio);
- return Body_GoToPoint(target, 0.25, ServerParam::i().maxDashPower()).execute(this);
+ bool may_fix = wm.self().collidesWithPost();
+ if (Body_GoToPoint(target, 0.25, ServerParam::i().maxDashPower()).execute(this)) {
+ return ACTION_STATUS_MAYBE;
+ } else if (may_fix) {
+ return ACTION_STATUS_UNKNOWN;
+ } else {
+ return ACTION_STATUS_BAD;
+ }
}
/*-------------------------------------------------------------------*/
/*!
*
- * This action cuts off the angle between the shooter and the goal the players always moves on a fixed line.
+ * This action cuts off the angle between the shooter and the goal; the player always moves on a fixed line.
*/
-bool Agent::doDefendGoal() {
+action_status_t Agent::doDefendGoal() {
const WorldModel & wm = this->world();
Vector2D goal_pos1( -ServerParam::i().pitchHalfLength() + ServerParam::i().goalAreaLength(), ServerParam::i().goalHalfWidth() );
Vector2D goal_pos2( -ServerParam::i().pitchHalfLength() + ServerParam::i().goalAreaLength(), -ServerParam::i().goalHalfWidth() );
const BallObject& ball = wm.ball();
if (! ball.rposValid()) {
- return false;
+ return ACTION_STATUS_BAD;
}
Vector2D ball_pos = ball.pos();
@@ -969,7 +1004,15 @@ bool Agent::doDefendGoal() {
double dist_to_post2 = goal_pos2.dist2(ball_pos);
double ratio = dist_to_post2/(dist_to_post1+dist_to_post2);
Vector2D target = goal_pos1 * ratio + goal_pos2 * (1-ratio);
- return Body_GoToPoint(target, 0.25, ServerParam::i().maxDashPower()).execute(this);
+ bool may_fix = wm.self().collidesWithPost();
+
+ if (Body_GoToPoint(target, 0.25, ServerParam::i().maxDashPower()).execute(this)) {
+ return ACTION_STATUS_MAYBE;
+ } else if (may_fix) {
+ return ACTION_STATUS_UNKNOWN;
+ } else {
+ return ACTION_STATUS_BAD;
+ }
}
/*-------------------------------------------------------------------*/
@@ -980,13 +1023,13 @@ bool Agent::doDefendGoal() {
*/
-bool Agent::doGoToBall() {
+action_status_t Agent::doGoToBall() {
const WorldModel & wm = this->world();
const BallObject& ball = wm.ball();
if (! ball.rposValid()) {
- return false;
+ return ACTION_STATUS_BAD;
}
- return Body_GoToPoint(ball.pos(), 0.25, ServerParam::i().maxDashPower()).execute(this);
+ return BooleanToActionStatus(Body_GoToPoint(ball.pos(), 0.25, ServerParam::i().maxDashPower()).execute(this));
}
/*-------------------------------------------------------------------*/
diff --git a/src/agent.h b/src/agent.h
index 2a22911..3f4112f 100644
--- a/src/agent.h
+++ b/src/agent.h
@@ -1,3 +1,5 @@
+// -*-c++-*-
+
#ifndef AGENT_H
#define AGENT_H
@@ -64,7 +66,7 @@ protected:
int num_teammates; // Number of teammates
int num_opponents; // Number of opponents
hfo::action_t last_action_with_status; // Last action with a recorded return status
- int last_action_status; // Recorded return status of last action (1 = true, 0 = false, -1 = not available)
+ hfo::action_status_t last_action_status; // Recorded return status of last action
public:
inline const std::vector<float>& getState() { return state; }
@@ -74,7 +76,7 @@ protected:
int getUnum(); // Returns the uniform number of the player
inline int getNumTeammates() { return num_teammates; }
inline int getNumOpponents() { return num_opponents; }
- int getLastActionStatus(hfo::action_t last_action); // if last_action is correct, returns status if available
+ hfo::action_status_t getLastActionStatus(hfo::action_t last_action); // if last_action is correct, returns status if available
inline void setFeatureSet(hfo::feature_set_t fset) { feature_set = fset; }
inline std::vector<float>* mutable_params() { return ¶ms; }
@@ -83,21 +85,22 @@ protected:
private:
bool doPreprocess();
- bool doSmartKick();
- bool doShoot();
+ hfo::action_status_t doSmartKick();
+ hfo::action_status_t doShoot();
bool doPass();
- bool doPassTo(int receiver);
- bool doDribble();
- bool doMove();
+ hfo::action_status_t doPassTo(int receiver);
+ hfo::action_status_t doDribble();
+ hfo::action_status_t doMove();
bool doForceKick();
bool doHeardPassReceive();
- bool doMarkPlayer(int unum);
+ hfo::action_status_t doMarkPlayer(int unum);
bool doMarkPlayerNearIndex(int near_index);
- bool doReduceAngleToGoal();
- bool doDefendGoal();
- bool doGoToBall();
+ hfo::action_status_t doReduceAngleToGoal();
+ hfo::action_status_t doDefendGoal();
+ hfo::action_status_t doGoToBall();
bool doNewAction1();
- void addLastActionStatus(hfo::action_t last_action, bool action_status);
+ void addLastActionStatus(hfo::action_t last_action, hfo::action_status_t action_status);
+ void addLastActionStatusCollision(hfo::action_t last_action, bool may_fix, bool likely_success);
Communication::Ptr M_communication;
diff --git a/src/bhv_basic_move.cpp b/src/bhv_basic_move.cpp
index 1c1bf94..9c10ca7 100644
--- a/src/bhv_basic_move.cpp
+++ b/src/bhv_basic_move.cpp
@@ -48,25 +48,36 @@
#include <rcsc/common/server_param.h>
#include "neck_offensive_intercept_neck.h"
+#include "common.hpp"
using namespace rcsc;
+bool
+Bhv_BasicMove::execute( PlayerAgent * agent )
+{
+ if (Bhv_BasicMove::action_execute(agent) == hfo::ACTION_STATUS_MAYBE) {
+ return true;
+ } else {
+ return false;
+ }
+}
+
/*-------------------------------------------------------------------*/
/*!
*/
-bool
-Bhv_BasicMove::execute( PlayerAgent * agent )
+hfo::action_status_t
+Bhv_BasicMove::action_execute( PlayerAgent * agent )
{
dlog.addText( Logger::TEAM,
__FILE__": Bhv_BasicMove" );
- bool success = true;
+ hfo::action_status_t success = hfo::ACTION_STATUS_UNKNOWN;
//-----------------------------------------------
// tackle
if ( Bhv_BasicTackle( 0.8, 80.0 ).execute( agent ) )
{
- return true;
+ return hfo::ACTION_STATUS_MAYBE;
}
const WorldModel & wm = agent->world();
@@ -85,9 +96,8 @@ Bhv_BasicMove::execute( PlayerAgent * agent )
{
dlog.addText( Logger::TEAM,
__FILE__": intercept" );
- success = Body_Intercept().execute( agent );
+ success = hfo::BooleanToActionStatus(Body_Intercept().execute( agent ));
agent->setNeckAction( new Neck_OffensiveInterceptNeck() );
-
return success;
}
@@ -96,7 +106,9 @@ Bhv_BasicMove::execute( PlayerAgent * agent )
const BallObject& ball = wm.ball();
if (! ball.rposValid()) {
- success = false;
+ if (! wm.self().collidesWithPost()) {
+ success = hfo::ACTION_STATUS_BAD;
+ }
}
double dist_thr = ball.distFromSelf() * 0.1;
@@ -115,8 +127,10 @@ Bhv_BasicMove::execute( PlayerAgent * agent )
).execute( agent ) )
{
if (! Body_TurnToBall().execute( agent )) {
- success = false;
+ success = hfo::ACTION_STATUS_BAD;
}
+ } else if (success != hfo::ACTION_STATUS_BAD) {
+ success = hfo::ACTION_STATUS_MAYBE;
}
if ( wm.existKickableOpponent() &&
diff --git a/src/bhv_basic_move.h b/src/bhv_basic_move.h
index 1a13568..092c2cd 100644
--- a/src/bhv_basic_move.h
+++ b/src/bhv_basic_move.h
@@ -29,6 +29,7 @@
#include <rcsc/geom/vector_2d.h>
#include <rcsc/player/soccer_action.h>
+#include "common.hpp"
class Bhv_BasicMove
: public rcsc::SoccerBehavior {
@@ -36,7 +37,8 @@ public:
Bhv_BasicMove()
{ }
- bool execute( rcsc::PlayerAgent * agent );
+ bool execute( rcsc::PlayerAgent * agent );
+ hfo::action_status_t action_execute( rcsc::PlayerAgent * agent );
private:
double getDashPower( const rcsc::PlayerAgent * agent );
diff --git a/src/common.hpp b/src/common.hpp
index 255f9be..5e544f3 100644
--- a/src/common.hpp
+++ b/src/common.hpp
@@ -5,6 +5,7 @@
#include <stdlib.h>
#include <iostream>
#include <sstream>
+#include <vector>
namespace hfo {
@@ -33,14 +34,14 @@ enum action_t
DRIBBLE, // [High-Level] Dribble(): Offensive dribble
CATCH, // [High-Level] Catch(): Catch the ball (Goalie only!)
NOOP, // Do nothing
- QUIT, // Special action to quit the game
+ QUIT, // Special action to quit the game
REDUCE_ANGLE_TO_GOAL, // [High-Level] Reduce_Angle_To_Goal : Reduces the shooting angle
- MARK_PLAYER, // [High-Level] Mark_Player(opponent_unum [0,11]) : Moves to the position in between the kicker and a given player
+ MARK_PLAYER, // [High-Level] Mark_Player(opponent_unum [0,11]) : Moves to the position in between the kicker and a given player
DEFEND_GOAL,
GO_TO_BALL
};
-// Status of a HFO game
+// Status of an HFO game
enum status_t
{
IN_GAME, // Game is currently active
@@ -51,6 +52,24 @@ enum status_t
SERVER_DOWN // Server is not alive
};
+// Action status
+enum action_status_t {
+ ACTION_STATUS_UNKNOWN = -1, // cannot tell or invalid action # in status request
+ ACTION_STATUS_BAD = 0, // definitely not OK
+ ACTION_STATUS_MAYBE = 1, // may be OK, may not
+};
+
+/**
+ * Translates from boolean false (bad) or true (maybe OK) to action status
+ */
+inline action_status_t BooleanToActionStatus(const bool status) {
+ if (status) {
+ return ACTION_STATUS_MAYBE;
+ } else{
+ return ACTION_STATUS_BAD;
+ }
+}
+
// Configuration of the HFO domain including the team names and player
// numbers for each team. This struct is populated by ParseConfig().
struct Config {
@@ -171,7 +190,7 @@ inline std::string ActionToString(action_t action) {
};
/**
- * Returns a string representation of a game_status.
+ * Returns a string representation of a game status.
*/
inline std::string StatusToString(status_t status) {
switch (status) {
@@ -192,6 +211,22 @@ inline std::string StatusToString(status_t status) {
}
};
+/**
+ * Returns a string representation of an action status.
+ */
+inline std::string ActionStatusToString(action_status_t status) {
+ switch (status) {
+ case ACTION_STATUS_BAD:
+ return "Bad";
+ case ACTION_STATUS_MAYBE:
+ return "MaybeOK";
+ case ACTION_STATUS_UNKNOWN:
+ return "Unknown";
+ default:
+ return "Invalid";
+ }
+}
+
/**
* Parse a Trainer message to populate config. Returns a bool
* indicating if the struct was correctly parsed.
--
2.24.1